機構設計用シミュレーション・システム : 第1報,機構のトポロジカル解析

抄録

The computer based analysis presented in this paper provides an automated generation of kinematic loops necessary for the kinematic analysis of a complex mechanism, and is applicable to an arbitrary mechanism composed of open loops or closed loops, or both. First, all the links in a mechanism are topologically classified into several types according to the number of joints adjacent to the link. Next, based on graph theory, topological structure of the whole mechanism is automatically analyzed by using the local relation given as the input data between the joint and adjacent links. The effectiveness of this method is comfirmed by an example of an industrial robot.